liruiw/omg-planner

An Optimization-based Motion and Grasp Planner

omg-planner's Issues

blenderpy issue in process_shape for shapenet objects

Hi, I'm curious how important the blender processing step here is?

The code only seems to apply for filepaths with "kitchen" in it, yet when I look at the URDFs in this dataset they all point to a model_normalized.simplified.obj which is produced by the blender processing, as far as I can tell.

I tried disabling the kitchen check and running the blender processing on shapes from shapenet but get the following error:

Clearing split normals and removing doubles.
Info: Removed 0 vertice(s)
Info: Removed 0 vertice(s)
Unchecking auto_smooth
Adding edge split modifier.
Applying smooth shading.
Running smart UV project.
Traceback (most recent call last):
  File "/iris/u/ayz/anaconda3/envs/gaddpg_py37/lib/python3.7/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "/iris/u/ayz/anaconda3/envs/gaddpg_py37/lib/python3.7/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/iris/u/ayz/GA-DDPG/OMG/real_world/process_shape.py", line 161, in <module>
    blender_process.process_obj(fpath)
  File "/iris/u/ayz/GA-DDPG/OMG/real_world/blender_process.py", line 22, in process_obj
    path = os.path.join(file_path, "model_normalized.obj")
  File "/iris/u/ayz/anaconda3/envs/gaddpg_py37/lib/python3.7/site-packages/2.91/scripts/modules/bpy/ops.py", line 132, in __call__
    ret = _op_call(self.idname_py(), None, kw)
RuntimeError: Operator bpy.ops.uv.smart_project.poll() failed, context is incorrect

Any idea what might be up here?

C-Space ISF code?

Hi, I've been looking for the C-Space ISF code but am having trouble locating it. I figured it would be somewhere in planner.plan() or in the PlanningScene class, but I don't think I see it there. I did see this in the config referring to ISF, but when I search for the variable it does not appear in the code:

cfg.obj_point_num = 800 # object points for KDTree in isf

Can you point me to the C-Space ISF code? Thank you very much.

Can I also implement the project in MacOS?

I tried to run this project in a virtual machine(ubuntu18.04), but it was slow. So I wonder if I can also run it on my PC (MacOS)?
Thanks in advance.

Ubuntu 20.04 System Installation Common Issues

I recently came across building the repo with a freshly installed ubuntu 20.04. Here are some notes that might be useful.

1. Install Eigen before Sophus.
2. Install the correct versions of cuda and cudnn versions for your GPUs. (In my case cuda 11.4, driver 470, and torch version 1.9.0)
3. Sophus error (similar to #11 ). Resolve by adding "set(CMAKE_CXX_FLAGS "-Wno-error=deprecated-declarations -Wno-deprecated-declarations ")" to the CMakeList.
4. Ycb_render error (similar to #12 ). Build assimp (tag v4.1.0 from source
5. Cannot find Sip. Cmake in building PyKDL requires the right python version path.

How can I use this code in a real robot？

Forexample baxter，thank you！

ycb_render run--error

/OMG-Planner/ycb_render$ python ycb_renderer.py ycb
Segment error (core dumped)

Problem with running the examples (Renderer)

Hello,
When running python -m real_world.trial -s script.txt -v -f kitchen0 i get the following error:

loaded one task script: script.txt
target: ['003_cracker_box']
place delta poses: [[-0.45, 0.0, 0.0, 0.0], [0.1, 0.35, -0.6, 1.0]]
Setting up env...
env init time: 0.132
['025_mug', '004_sugar_box', 'kitchen_handle', 'kitchen_sektion_top_two_glass', 'kitchen_handle', 'kitchen_handle', 'kitchen_front_vertical_left', 'kitchen_sektion_top_three', 'kitchen_handle', 'kitchen_sektion_bottom_two_drawers', 'kitchen_front_vertical_right', 'kitchen_drawer_large', 'kitchen_front_vertical_right', 'kitchen_sektion_bottom_cabinet', 'kitchen_drawer_large', 'kitchen_walls', 'kitchen_handle', '003_cracker_box']
populate scene time: 0.217
025_mug IK init time: 0.384, failed_ik: 5, goal set num: 104/30
004_sugar_box IK init time: 0.791, failed_ik: 47, goal set num: 312/100
003_cracker_box IK init time: 0.884, failed_ik: 77, goal set num: 70/100
025_mug IK FOUND collision-free goal num 37/37/37/65
004_sugar_box IK FOUND collision-free goal num 43/43/43/321
003_cracker_box IK FOUND collision-free goal num 35/35/35/70
Setting up renderer...
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
Unable to initialize EGL
Command '['/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/build/test_device', '2']' returned non-zero exit status 1.
libEGL warning: DRI2: failed to create dri screen
libEGL warning: DRI2: failed to create dri screen
Unable to initialize EGL
Command '['/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/build/test_device', '3']' returned non-zero exit status 1.
number of devices found 5
Loaded EGL 1.5 after reload.
Renderer init time: 0.599
Traceback (most recent call last):
  File "/home/nir1tv/miniconda3/envs/gaux/lib/python3.6/runpy.py", line 193, in _run_module_as_main
    "__main__", mod_spec)
  File "/home/nir1tv/miniconda3/envs/gaux/lib/python3.6/runpy.py", line 85, in _run_code
    exec(code, run_globals)
  File "/home/nir1tv/projects/OMG-Planner/real_world/trial.py", line 523, in <module>
    main()
  File "/home/nir1tv/projects/OMG-Planner/real_world/trial.py", line 363, in main
    scene.reset()
  File "/home/nir1tv/projects/OMG-Planner/real_world/../omg/core.py", line 486, in reset
    self.setup_renderer()
  File "/home/nir1tv/projects/OMG-Planner/real_world/../omg/core.py", line 769, in setup_renderer
    renderer.load_objects(models, scale=resize)
  File "/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/ycb_renderer.py", line 1164, in load_objects
    scenes, textures = self.parallel_assimp_load(obj_paths, scale)
  File "/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/ycb_renderer.py", line 1116, in parallel_assimp_load
    for i in range(len(mesh_files))]
  File "/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/ycb_renderer.py", line 1116, in <listcomp>
    for i in range(len(mesh_files))]
  File "/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/ycb_renderer.py", line 54, in load_mesh_single
    return recursive_load(scene.rootnode, [], [], [], [], offset, scale, [[], [], []])
  File "/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/ycb_renderer.py", line 156, in recursive_load
    child, vertices, faces, materials, texture_paths, offset, scale, repeated
  File "/home/nir1tv/projects/OMG-Planner/real_world/../ycb_render/ycb_renderer.py", line 107, in recursive_load
    mat_diffuse = np.array(mat.properties["diffuse"])[:3]
IndexError: too many indices for array: array is 0-dimensional, but 1 were indexed

When I checked mat.properties["diffuse"] in debug mode, it was 0 (expecting a list/array).

layers installation "nvcc fatal : Unsupported gpu architecture 'compute_86'"

When running python setup.py install for layers, I get the following error:

nvcc fatal : Unsupported gpu architecture 'compute_86'

I am running with a 3090 GPU and CUDA 11.1. Is there something I can change in the layers directory to fix this issue? Thanks for your help.

make error --orocos_kinematics_dynamics

(omg) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build$ python
Python 3.6.9 |Anaconda, Inc.| (default, Jul 30 2019, 19:07:31) 
[GCC 7.3.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> 

(base) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3$ conda activate omg
(omg) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3$ python configure.py
This is SIP 4.19.3 for Python 3.6.9 on linux.
The SIP code generator will be installed in
/home/yusheng/anaconda3/envs/omg/bin.
The sip module will be installed in
/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages.
The sip.pyi stub file will be installed in
/home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages.
The sip.h header file will be installed in
/home/yusheng/anaconda3/envs/omg/include/python3.6m.
The default directory to install .sip files in is
/home/yusheng/anaconda3/envs/omg/share/sip.
Creating siplib/sip.h...
Creating siplib/siplib.c...
Creating siplib/siplib.sbf...
Creating sipconfig.py...
Creating top level Makefile...
Creating sip code generator Makefile...
Creating sip module Makefile...
(omg) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3$ make -j8
make[1]: Entering directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/sipgen'
make[1]: Nothing to be done for 'all'.
make[1]: Leaving directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/sipgen'
make[1]: Entering directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/siplib'
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o siplib.o siplib.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o apiversions.o apiversions.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o descriptors.o descriptors.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o qtlib.o qtlib.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o threads.o threads.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o objmap.o objmap.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o voidptr.o voidptr.c
gcc -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o array.o array.c
g++ -c -pipe -fPIC -O2 -Wall -W -DNDEBUG -I. -I/home/yusheng/anaconda3/envs/omg/include/python3.6m -o bool.o bool.cpp
siplib.c: In function ‘parsePass2’:
siplib.c:5665:32: warning: ‘owner’ may be used uninitialized in this function [-Wmaybe-uninitialized]
                         *owner = arg;
                                ^
siplib.c: In function ‘slot_richcompare’:
siplib.c:11013:52: warning: ‘st’ may be used uninitialized in this function [-Wmaybe-uninitialized]
     if ((f = (PyObject *(*)(PyObject *,PyObject *))findSlot(self, st)) == NULL)
                                                    ^
g++ -shared -Wl,--version-script=sip.exp -o sip.so siplib.o apiversions.o descriptors.o qtlib.o threads.o objmap.o voidptr.o array.o bool.o 
make[1]: Leaving directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/siplib'
(omg) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3$ sudo make install
[sudo] yusheng 的密码： 
make[1]: Entering directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/sipgen'
cp -f sip /home/yusheng/anaconda3/envs/omg/bin/sip
make[1]: Leaving directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/sipgen'
make[1]: Entering directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/siplib'
cp -f sip.so /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/sip.so
strip /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/sip.so
cp -f /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/siplib/sip.h /home/yusheng/anaconda3/envs/omg/include/python3.6m/sip.h
cp -f /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/sip.pyi /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/sip.pyi
make[1]: Leaving directory '/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/siplib'
cp -f sipconfig.py /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/sipconfig.py
cp -f /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/sip-4.19.3/sipdistutils.py /home/yusheng/anaconda3/envs/omg/lib/python3.6/site-packages/sipdistutils.py

(omg) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build$ cmake ..  -DPYTHON_VERSION=3.6.9 -DPYTHON_EXECUTABLE=~/anaconda3/envs/omg/bin/python3.6

-- Found PythonInterp: /home/yusheng/anaconda3/envs/omg/bin/python3.6 (found suitable version "3.6.9", minimum required is "3.6.9") 
-- Found SIP version: 4.19.3
-- Using CATKIN_DEVEL_PREFIX: /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/kinetic
-- This workspace overlays: /opt/ros/kinetic
-- Using PYTHON_EXECUTABLE: /home/yusheng/anaconda3/envs/omg/bin/python3.6
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/test_results
-- Found gtest sources under '/usr/src/gmock': gtests will be built
-- Found gmock sources under '/usr/src/gmock': gmock will be built
-- Found PythonInterp: /home/yusheng/anaconda3/envs/omg/bin/python3.6 (found version "3.6.9") 
-- Using Python nosetests: /usr/bin/nosetests
-- catkin 0.7.20
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build

(omg) yusheng@yusheng:~/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build$ make -j8

[ 10%] Building CXX object CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart1.cpp.o
[ 20%] Building CXX object CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart2.cpp.o
[ 30%] Building CXX object CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart3.cpp.o
[ 40%] Building CXX object CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart5.cpp.o
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In member function ‘void sipChainIkSolverPos_NR_JL::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:87:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverPos_NR_JL’
          ::ChainIkSolverPos_NR_JL::updateInternalDataStructures();
          ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In function ‘PyObject* meth_ChainIkSolverPos_NR_JL_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:162:65: error: ‘class KDL::ChainIkSolverPos_NR_JL’ has no member named ‘updateInternalDataStructures’
             (sipSelfWasArg ? sipCpp-> ::ChainIkSolverPos_NR_JL::updateInternalDataStructures() : sipCpp->updateInternalDataStructures());
                                                                 ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:162:106: error: ‘class KDL::ChainIkSolverPos_NR_JL’ has no member named ‘updateInternalDataStructures’
             (sipSelfWasArg ? sipCpp-> ::ChainIkSolverPos_NR_JL::updateInternalDataStructures() : sipCpp->updateInternalDataStructures());
                                                                                                          ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In member function ‘void sipChainIkSolverPos_NR::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:410:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverPos_NR’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In function ‘PyObject* meth_ChainIkSolverPos_NR_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:485:62: error: ‘class KDL::ChainIkSolverPos_NR’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:485:103: error: ‘class KDL::ChainIkSolverPos_NR’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In function ‘PyObject* meth_ChainIkSolverVel_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:854:21: error: ‘class KDL::ChainIkSolverVel’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp: In member function ‘void sipChainIdSolver_RNE::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:1997:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIdSolver_RNE’
 extern "C" {static PyObject *meth_ChainIdSolver_RNE_CartToJnt(PyObject *, PyObj
          ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In function ‘PyObject* meth_ChainIkSolverPos_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1154:21: error: ‘class KDL::ChainIkSolverPos’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp: In function ‘PyObject* meth_ChainIdSolver_RNE_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2078:60: error: ‘class KDL::ChainIdSolver_RNE’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2078:101: error: ‘class KDL::ChainIdSolver_RNE’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp: In function ‘void* cast_ChainIdSolver_RNE(void*, const sipTypeDef*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2102:31: error: ‘SolverI’ in namespace ‘::’ does not name a type
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2102:39: error: expected ‘>’ before ‘*’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2102:39: error: expected ‘(’ before ‘*’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2102:40: error: expected primary-expression before ‘>’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2102:49: error: expected ‘)’ before ‘;’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp: In function ‘void* cast_ChainIdSolver(void*, const sipTypeDef*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2265:31: error: ‘SolverI’ in namespace ‘::’ does not name a type
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2265:39: error: expected ‘>’ before ‘*’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2265:39: error: expected ‘(’ before ‘*’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2265:40: error: expected primary-expression before ‘>’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart1.cpp:2265:49: error: expected ‘)’ before ‘;’ token
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In member function ‘void sipChainFkSolverVel_recursive::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1371:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainFkSolverVel_recursive’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In function ‘PyObject* meth_ChainFkSolverVel_recursive_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1446:69: error: ‘class KDL::ChainFkSolverVel_recursive’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1446:110: error: ‘class KDL::ChainFkSolverVel_recursive’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In member function ‘void sipChainFkSolverPos_recursive::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1674:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainFkSolverPos_recursive’
     if (!sipMeth)
          ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp: In function ‘PyObject* meth_ChainFkSolverPos_recursive_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1749:69: error: ‘class KDL::ChainFkSolverPos_recursive’ has no member named ‘updateInternalDataStructures’
 static void *cast_ChainFkSolverPos_recursive(void *sipCppV, const sipTypeDef *targetType)
                                                                     ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart3.cpp:1749:110: error: ‘class KDL::ChainFkSolverPos_recursive’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp: In function ‘void* init_type_Segment(sipSimpleWrapper*, PyObject*, PyObject*, PyObject**, PyObject**, PyObject**)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:921:39: error: ‘Fixed’ is not a member of ‘KDL::Joint’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:945:39: error: ‘Fixed’ is not a member of ‘KDL::Joint’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In member function ‘void sipChainJntToJacSolver::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:76:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainJntToJacSolver’
          ::ChainJntToJacSolver::updateInternalDataStructures();
          ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainJntToJacSolver_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:135:62: error: ‘class KDL::ChainJntToJacSolver’ has no member named ‘updateInternalDataStructures’
             (sipSelfWasArg ? sipCpp-> ::ChainJntToJacSolver::updateInternalDataStructures() : sipCpp->updateInternalDataStructures());
                                                              ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:135:103: error: ‘class KDL::ChainJntToJacSolver’ has no member named ‘updateInternalDataStructures’
             (sipSelfWasArg ? sipCpp-> ::ChainJntToJacSolver::updateInternalDataStructures() : sipCpp->updateInternalDataStructures());
                                                                                                       ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp: In function ‘PyObject* meth_Joint_getInertia(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:1972:30: error: ‘const class KDL::Joint’ has no member named ‘getInertia’
             sipRes = sipCpp->getDamping();
                              ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp: In function ‘PyObject* meth_Joint_getDamping(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:1999:30: error: ‘const class KDL::Joint’ has no member named ‘getDamping’
             sipRes = sipCpp->getStiffness();
                              ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp: In function ‘PyObject* meth_Joint_getStiffness(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:2026:30: error: ‘const class KDL::Joint’ has no member named ‘getStiffness’
             sipRes = sipCpp->getType();
                              ^
In file included from /usr/local/include/kdl/frameacc.hpp:267:0,
                 from /usr/local/include/kdl/chainfksolver.hpp:27,
                 from /usr/local/include/kdl/chainfksolverpos_recursive.hpp:25,
                 from /usr/local/include/kdl/chainjnttojacdotsolver.hpp:31,
                 from /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/kinfam.sip:693:
/usr/local/include/kdl/frameacc.inl: In member function ‘KDL::doubleAcc KDL::VectorAcc::Norm(double)’:
/usr/local/include/kdl/frameacc.inl:131:24: error: no matching function for call to ‘KDL::Vector::Norm(double&)’
     res.t  = p.Norm(eps);
                        ^
In file included from /opt/ros/kinetic/share/orocos_kdl/../../include/kdl/framevel.hpp:30:0,
                 from /home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/PyKDL/framevel.sip:100:
/opt/ros/kinetic/share/orocos_kdl/../../include/kdl/frames.hpp:240:13: note: candidate: double KDL::Vector::Norm() const
      double Norm() const;
             ^
/opt/ros/kinetic/share/orocos_kdl/../../include/kdl/frames.hpp:240:13: note:   candidate expects 0 arguments, 1 provided
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp: In function ‘void* init_type_Joint(sipSimpleWrapper*, PyObject*, PyObject*, PyObject**, PyObject**, PyObject**)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:2178:35: error: ‘Fixed’ is not a member of ‘KDL::Joint’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:2205:35: error: ‘Fixed’ is not a member of ‘KDL::Joint’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp: At global scope:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart5.cpp:2331:39: error: ‘Fixed’ is not a member of ‘KDL::Joint’
CMakeFiles/python_module_PyKDL.dir/build.make:147: recipe for target 'CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart3.cpp.o' failed
make[2]: *** [CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart3.cpp.o] Error 1
make[2]: *** 正在等待未完成的任务....
CMakeFiles/python_module_PyKDL.dir/build.make:173: recipe for target 'CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart5.cpp.o' failed
make[2]: *** [CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart5.cpp.o] Error 1
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In member function ‘void sipChainIkSolverVel_pinv_givens::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:360:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverVel_pinv_givens’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_pinv_givens_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:435:71: error: ‘class KDL::ChainIkSolverVel_pinv_givens’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:435:112: error: ‘class KDL::ChainIkSolverVel_pinv_givens’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In member function ‘void sipChainIkSolverVel_pinv_nso::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:711:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverVel_pinv_nso’
     sipVH_PyKDL_2(sipGILState, 0, sipPySelf, sipMeth);
          ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_pinv_nso_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:786:68: error: ‘class KDL::ChainIkSolverVel_pinv_nso’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:786:109: error: ‘class KDL::ChainIkSolverVel_pinv_nso’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_pinv_nso_getWeights(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:913:46: error: ‘const class KDL::ChainIkSolverVel_pinv_nso’ has no member named ‘getWeights’
     /* Raise an exception if the arguments couldn't be parsed. */
                                              ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_pinv_nso_getOptPos(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:940:46: error: ‘const class KDL::ChainIkSolverVel_pinv_nso’ has no member named ‘getOptPos’
     /* Raise an exception if the arguments couldn't be parsed. */
                                              ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_pinv_nso_getAlpha(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:967:30: error: ‘const class KDL::ChainIkSolverVel_pinv_nso’ has no member named ‘getAlpha’
     /* Raise an exception if the arguments couldn't be parsed. */
                              ^
CMakeFiles/python_module_PyKDL.dir/build.make:121: recipe for target 'CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart1.cpp.o' failed
make[2]: *** [CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart1.cpp.o] Error 1
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In member function ‘void sipChainIkSolverPos_LMA::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1212:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverPos_LMA’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverPos_LMA_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1287:63: error: ‘class KDL::ChainIkSolverPos_LMA’ has no member named ‘updateInternalDataStructures’
 extern "C" {static void *cast_ChainIkSolverPos_LMA(void *, const sipTypeDef *);}
                                                               ^
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1287:104: error: ‘class KDL::ChainIkSolverPos_LMA’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In member function ‘void sipChainIkSolverVel_wdls::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1521:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverVel_wdls’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_wdls_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1596:64: error: ‘class KDL::ChainIkSolverVel_wdls’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1596:105: error: ‘class KDL::ChainIkSolverVel_wdls’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In member function ‘void sipChainIkSolverVel_pinv::updateInternalDataStructures()’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:1993:10: error: ‘updateInternalDataStructures’ is not a member of ‘KDL::ChainIkSolverVel_pinv’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp: In function ‘PyObject* meth_ChainIkSolverVel_pinv_updateInternalDataStructures(PyObject*, PyObject*)’:
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:2068:64: error: ‘class KDL::ChainIkSolverVel_pinv’ has no member named ‘updateInternalDataStructures’
/home/yusheng/OMG-Planner/orocos_kinematics_dynamics/python_orocos_kdl/build/PyKDL/sipPyKDLpart2.cpp:2068:105: error: ‘class KDL::ChainIkSolverVel_pinv’ has no member named ‘updateInternalDataStructures’
CMakeFiles/python_module_PyKDL.dir/build.make:134: recipe for target 'CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart2.cpp.o' failed
make[2]: *** [CMakeFiles/python_module_PyKDL.dir/PyKDL/sipPyKDLpart2.cpp.o] Error 1
CMakeFiles/Makefile2:141: recipe for target 'CMakeFiles/python_module_PyKDL.dir/all' failed
make[1]: *** [CMakeFiles/python_module_PyKDL.dir/all] Error 2
Makefile:159: recipe for target 'all' failed
make: *** [all] Error 2

cppycbrender--error

When I run “python ycb_renderer.py ycb”， I will meet segfault error. The error comes when I
run " renderer = YCBRenderer(
width=width,
height=height,
gpu_id=0,
render_marker=False,
robot=model_path,
offset=True,
)" in ycb_renderer.py

X11/Xlib.h not found in Ubuntu

A quick search through Google and found the solution here.

https://stackoverflow.com/questions/5299989/x11-xlib-h-not-found-in-ubuntu

layer

g++: error: /home/jnu/code/OMG-Planner/layers/build/temp.linux-x86_64-3.6/sdf_matching_loss_kernel.o: 没有那个文件或目录

$ nvcc -V
nvcc: NVIDIA (R) Cuda compiler driver
Copyright (c) 2005-2020 NVIDIA Corporation
Built on Thu_Jun_11_22:26:38_PDT_2020
Cuda compilation tools, release 11.0, V11.0.194
Build cuda_11.0_bu.TC445_37.28540450_0

Request for dockerfile

While the installation instructions are quite clear, having a dockerfile to build an image with everything installed and working would be really convenient.

Problem with building of the Sophus submodule

On Ubuntu 20.04 when unstalling the Sophus module:

It seems that cmake is doing fine:
cmake .. returns:

-- The C compiler identification is GNU 9.3.0
-- The CXX compiler identification is GNU 9.3.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found Eigen3: /usr/local/include/eigen3 (Required is at least version "2.91.0") 
-- Found installed version of Eigen: /usr/lib/cmake/eigen3
-- Found required Ceres dependency: Eigen version 3.3.7 in /usr/include/eigen3
-- Found required Ceres dependency: glog
-- Found installed version of gflags: /usr/lib/x86_64-linux-gnu/cmake/gflags
-- Detected gflags version: 2.2.2
-- Found required Ceres dependency: gflags
-- Found Ceres version: 1.14.0 installed in: /usr with components: [EigenSparse, SparseLinearAlgebraLibrary, LAPACK, SuiteSparse, CXSparse, SchurSpecializations, OpenMP, Multithreading]
-- CERES found
-- Configuring done
-- Generating done
-- Build files have been written to: /home/***/projects/GA-DDPG/OMG/Sophus/build

but there are some errors in make -j8 in [ 58%] Building CXX object test/core/CMakeFiles/test_rxso3.dir/test_rxso3.cpp.o:

In file included from /usr/local/include/eigen3/Eigen/Core:19,
                 from /usr/local/include/eigen3/Eigen/Dense:1,
                 from /home/nir1tv/projects/GA-DDPG/OMG/Sophus/sophus/rotation_matrix.hpp:4,
                 from /home/nir1tv/projects/GA-DDPG/OMG/Sophus/sophus/so3.hpp:4,
                 from /home/nir1tv/projects/GA-DDPG/OMG/Sophus/sophus/se3.hpp:4,
                 from /home/nir1tv/projects/GA-DDPG/OMG/Sophus/test/core/test_se3.cpp:3:
/home/nir1tv/projects/GA-DDPG/OMG/Sophus/sophus/se3.hpp:689:3: note: because ‘Eigen::Map<Sophus::SE3<float>, 0, Eigen::Stride<0, 0> >’ has user-provided ‘Eigen::Map<Sophus::SE3<Scalar_>, Options>& Eigen::Map<Sophus::SE3<Scalar_>, Options>::operator=(const Eigen::Map<Sophus::SE3<Scalar_>, Options>&) [with Scalar_ = float; int Options = 0]’
  689 |   EIGEN_INHERIT_ASSIGNMENT_EQUAL_OPERATOR(Map)
      |   ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_so2.dir/build.make:63: test/core/CMakeFiles/test_so2.dir/test_so2.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:307: test/core/CMakeFiles/test_so2.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_rxso2.dir/build.make:63: test/core/CMakeFiles/test_rxso2.dir/test_rxso2.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:196: test/core/CMakeFiles/test_rxso2.dir/all] Error 2
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_sim2.dir/build.make:63: test/core/CMakeFiles/test_sim2.dir/test_sim2.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:344: test/core/CMakeFiles/test_sim2.dir/all] Error 2
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_se2.dir/build.make:63: test/core/CMakeFiles/test_se2.dir/test_se2.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:492: test/core/CMakeFiles/test_se2.dir/all] Error 2
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_sim3.dir/build.make:63: test/core/CMakeFiles/test_sim3.dir/test_sim3.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:418: test/core/CMakeFiles/test_sim3.dir/all] Error 2
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_se3.dir/build.make:63: test/core/CMakeFiles/test_se3.dir/test_se3.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:233: test/core/CMakeFiles/test_se3.dir/all] Error 2
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_rxso3.dir/build.make:63: test/core/CMakeFiles/test_rxso3.dir/test_rxso3.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:529: test/core/CMakeFiles/test_rxso3.dir/all] Error 2
cc1plus: all warnings being treated as errors
make[2]: *** [test/core/CMakeFiles/test_so3.dir/build.make:63: test/core/CMakeFiles/test_so3.dir/test_so3.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:381: test/core/CMakeFiles/test_so3.dir/all] Error 2
make: *** [Makefile:141: all] Error 2

Any idea what's the problem?

failed_ik

004_sugar_box IK init time: 0.682, failed_ik: 99, goal set num: 0/100
self.target_pos
len(target_pos)= 9
object_pose.shape= (4, 4)
self.traj.start= (8,)
anchor_seeds= (12, 9)
004_sugar_box IK init time: 0.680, failed_ik: 99, goal set num: 0/100

python setup.py develop error

OMG-Planner/ycb_render$ python setup.py develop
running develop
running egg_info
error: [Errno 13] Permission denied

download_data.sh: wget downloaded file cannot be unzipped

On running ./download_data.sh, I'm getting the following error:

Data downloaded. Starting to unzip
[data.zip]
  End-of-central-directory signature not found.  Either this file is not
  a zipfile, or it constitutes one disk of a multi-part archive.  In the
  latter case the central directory and zipfile comment will be found on
  the last disk(s) of this archive.
unzip:  cannot find zipfile directory in one of data.zip or
        data.zip.zip, and cannot find data.zip.ZIP, period.

Weirdly enough, if I manually download data.zip from the link https://drive.google.com/uc?export=download&id=1tHPAQ2aPdkp8cwtFP4gs4wdcP02jfGpH and then unzip -q data.zip, the zip file gets unzipped successfully.